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rtabmap: parameters passed by arguments override those in the database loaded from command line. Dictionary: set words saved to avoid saving them in database (causing db error when remapping from an old db created by fixed dictionary). G2O: ba supporting words with negative ids.

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This commit is contained in:
matlabbe
2018-07-27 16:01:17 -04:00
parent b63590bf1d
commit 4d5b42ab79
7 changed files with 80 additions and 20 deletions
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corelib/src/VWDictionary.cpp
+2 -1
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@@ -154,7 +154,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
driver->load(this, false);
for(std::map<int, VisualWord*>::iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
{
iter->second->setSaved(false);
iter->second->setSaved(true);
}
_incrementalDictionary = _visualWords.size()==0;
driver->closeConnection(false);
@@ -222,6 +222,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
}
VisualWord * vw = new VisualWord(id, descriptor, 0);
vw->setSaved(true);
_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord*>(id, vw));
_notIndexedWords.insert(_notIndexedWords.end(), id);
_unusedWords.insert(_unusedWords.end(), std::pair<int, VisualWord*>(id, vw));